Fractional-order Generalized Principle of Self-Support (FOG PSS) in Control Systems Design

TL;DR

This paper introduces a novel fractional-order generalized principle of self-support (FOGPSS) framework for control systems, extending traditional PSS to fractional-order systems and demonstrating its effectiveness with an automobile tracking example.

Contribution

It proposes the first fractional-order generalized PSS framework, broadening the application scope to various uncertain nonlinear and time-delay systems.

Findings

Effective control of uncertain systems demonstrated

Enhanced tracking performance shown in automobile example

Framework applicable to multiple control problems

Abstract

This paper reviews research that studies the principle of self-support (PSS) in some control systems and proposes a fractional-order generalized PSS framework for the first time. The existing PSS approach focuses on practical tracking problem of integer-order systems including robotic dynamics, high precision linear motor system, multi-axis high precision positioning system with unmeasurable variables, imprecise sensor information, uncertain parameters and external disturbances. More generally, by formulating the fractional PSS concept as a new generalized framework, we will focus in the possible fields on the fractional-order control problems such as practical tracking, $\lambda$-tracking, etc. of robot systems, multiple mobile agents, discrete dynamical systems, time delay systems and other uncertain nonlinear systems. Finally, the practical tracking of a first-order uncertain model of automobile is considered as a simple example to demonstrate the efficiency of the fractional-order generalized principle of self-support (FOGPSS) control strategy.